[Add] Some more work on pathfinding.
-- Decided to stick with ANSI/ISO standards by keeping template implementation inside the header it came from as apposed to exporting it into another compilation unit. This stops gcc from bitching at me!
This commit is contained in:
Rtch90
parent
1dcbb82b72
commit
c30739a610
1
.gitignore
vendored
1
.gitignore
vendored
@ -12,6 +12,7 @@ Win32/Unuk/Unuk.ncb
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Win32/Unuk/Unuk.suo
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Win32/Unuk/Unuk.suo
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Bin/Unuk
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Bin/Unuk
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Bin/*.dll
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Bin/*.dll
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Save/save*
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Save/save_*
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Save/save_*
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*.swp
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*.swp
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*.o
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*.o
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@ -76,6 +76,5 @@ SOURCES += ../src/libUnuk/Engine/WorldManager.cpp \
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../src/libUnuk/UI/EventHistory.cpp \
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../src/libUnuk/UI/EventHistory.cpp \
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../src/libUnuk/UI/Bar.cpp \
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../src/libUnuk/UI/Bar.cpp \
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../src/libUnuk/System/Vec2.cpp \
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../src/libUnuk/System/Vec2.cpp \
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../src/libUnuk/Engine/Pathfinding.cpp \
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../src/libUnuk/UI/SavegameMenu.cpp
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../src/libUnuk/UI/SavegameMenu.cpp
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OTHER_FILES +=
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OTHER_FILES +=
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@ -1,282 +0,0 @@
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#include "Pathfinding.h"
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template<class UserState>
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AStarSearch<UserState>::AStarSearch(void) :
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_state(SEARCH_STATE_NOT_INITIALIZED),
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_currentSolutionNode(NULL),
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_allocateNodeCount(0),
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_cancelRequest(false) {}
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template<class UserState>
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AStarSearch<UserState>::~AStarSearch(void) {
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}
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template<class UserState>
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void AStarSearch<UserState>::SetStartAndGoalStates(UserState& start, UserState& goal) {
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_cancelRequest= false;
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_start = AllocateNode();
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_goal = AllocateNode();
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assert((_start != NULL && _goal != NULL));
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_start->_userState = _start;
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_goal->_userState = _goal;
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_state = SEARCH_STATE_SEARCHING;
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// Initialize the AStar specific parts of the start node.
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// You only need to fill out the state information.
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_start->g = 0;
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_start->h = _start->_userState.GoalDistanceEstimate(_goal->_userState);
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_start->f = _start->g + _start->h;
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_start->parent = 0;
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// Push the start node onto the open list.
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_openList.push_back(_start); // Heap is now unsorted.
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// Sort back element into the heap.
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push_heap(_openList.begin(), _openList.end(), HeapCompare_f());
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// Initialize counter for the search steps.
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_steps = 0;
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}
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template<class UserState>
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unsigned int AStarSearch<UserState>::SearchStep(void) {
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// Break if the search has not been initialized.
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assert((_state > SEARCH_STATE_NOT_INITIALIZED) && ( _state < SEARCH_STATE_INVALID));
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// Ensure it is safe to do a seach step once the seach has succeeded.
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if((_state == SEARCH_STATE_SUCCEEDED) || (_state == SEARCH_STATE_FAILED)) { return false; }
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if(_openList.empty() || _cancelRequest) {
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// Then there is nothing left to search, so fail.
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FreeAllNodes();
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_state = SEARCH_STATE_FAILED;
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return _state;
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}
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_steps++;
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// Pop the best node. -- The one with the lowest f.
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Node* n = _openList.front(); // Get pointer to the node.
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pop_heap(_openList.begin(), _openList.end(), HeapCompare_f());
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_openList.pop_back();
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// Check for the goal, once we pop that, we are done.
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if(n->_userState.IsGoal(_goal->_userState)) {
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// Copy the parent pointer of n, as we will use the passed in goal node.
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_goal->parent = n->parent;
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// If the goal was passed in at the start..
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if(false == n->_userState.IsSameState(_start->_userState)) {
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FreeNode(n);
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// Set the child pointers in each node, apart from goal, as it has no child.
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Node* nodeChild = _goal;
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Node* nodeParent = _goal->parent;
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while(nodeChild != _start) {
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// Start is always the first node by definition.
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nodeParent->child = nodeChild;
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nodeChild = nodeParent;
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nodeParent = nodeParent->parent;
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}
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}
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// Delete nodes that are not needed for the solution.
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FreeUnusedNodes();
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_state = SEARCH_STATE_SUCCEEDED;
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return _state;
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} else {
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// Not goal.
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/*
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* Generate the successors of this node.
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* The user helps us to do this, and we keep
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* the new nodes in _successors.
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*/
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_successors.clear(); // empty the vector of successor nodes to n.
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// The user provides this functions and uses AddSuccessor to add each
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// successor of node 'n' to _successors.
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bool ret = n->_userState.GetSuccessors(this, n->parent ? &n->parent->_userState : NULL);
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if(!ret) {
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typename vector<Node*>::iterator successor;
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// Free the nodes that may have previously been added.
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for(successor = _successors.begin(); successor != _successors.end(); successor++) {
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FreeNode((*successor));
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}
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// Empty vector of successor nodes nodes to n.
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_successors.clear();
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// Free up everything else we allocated along the way.
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FreeAllNodes();
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_state = SEARCH_STATE_OUT_OF_MEMORY;
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return _state;
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}
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// Now handle each successor to the current node..
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for(typename vector<Node*>::iterator successor = _successors.begin(); successor != _successors.end(); successor++) {
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// The g value for this successor.
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float newg = n->g + n->_userState.GetCost((*successor)->_userState);
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/*
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* We need to see whether the node is on the open or closed
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* list. If it is, but the node that is already on them is better
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* (lower g) then we can forget about this successor.
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*
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* First linear search of open list to find node.
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*/
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typename vector<Node*>::iterator openlist_result;
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for(openlist_result = _openList.begin(); openlist_result != _openList.end(); openlist_result++) {
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if((*openlist_result)->_userState.IsSameState((*successor)->_userState)) {
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break;
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}
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}
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if(openlist_result != _openList.end()) {
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// We found this state open.
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if((*openlist_result)->g <= newg) {
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FreeNode((*successor));
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// The one on the open list is cheaper than this one.
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continue;
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}
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}
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typename vector<Node*>::iterator closedlist_result;
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for(closedlist_result = _closedList.begin(); closedlist_result != _closedList.end(); closedlist_result++) {
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if((*closedlist_result)->_userState.IsSameState((*successor)->_userState)) {
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break;
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}
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}
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if(closedlist_result != _closedList.end()) {
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// We found this state closed.
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if((*closedlist_result)->g <= newg) {
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// The one on the closed list is cheaper than this one.
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FreeNode((*successor));
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continue;
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}
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}
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// This node is the best node so fat with this particular state.
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// So lets keep it, and set up its AStar specific data..
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(*successor)->parent = n;
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(*successor)->g = newg;
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(*successor)->h = (*successor)->_userState.GoalDistanceEstimate(_goal->_userState);
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(*successor)->f = (*successor)->g + (*successor)->h;
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// Remove successor from closed if it was on it.
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if(closedlist_result != _closedList.end()) {
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// Remove it from the closed list.
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FreeNode((*closedlist_result));
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_closedList.erase(closedlist_result);
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// Now remake the heap!!
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make_heap(_openList.begin(), _openList.end(), HeapCompare_f());
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}
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// The heap is now unsorted.
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_openList.push_back((*successor));
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// Sort back elements into the heap.
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push_heap(_openList.begin(), _openList.end(), HeapCompare_f());
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}
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// push n onto the closed list as it has now been expanded.
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_closedList.push_back(n);
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} // (Not goal, so expand)
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return _state; // Succeeded bool should be false at this point.
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}
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template<class UserState>
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bool AStarSearch<UserState>::AddSuccessor(UserState& state) {
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}
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template<class UserState>
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void AStarSearch<UserState>::FreeSolutionNodes(void) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetSolutionStart(void) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetSolutionNext(void) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetSolutionEnd(void) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetSolutionPrev(void) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetOpenListStart(void) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetOpenListStart(float& f, float& g, float& h) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetOpenListNext(void) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetOpenListNext(float& f, float& g, float& h) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetClosedListStart(void) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetClosedListStart(float& f, float& g, float& h) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetClosedListNext(void) {
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}
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template<class UserState>
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UserState* AStarSearch<UserState>::GetClosedListNext(float& f, float& g, float& h) {
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}
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// Private.
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template<class UserState>
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void AStarSearch<UserState>::FreeAllNodes(void) {
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}
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template<class UserState>
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void AStarSearch<UserState>::FreeUnusedNodes(void) {
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}
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template<class UserState>
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typename AStarSearch<UserState>::Node* AStarSearch<UserState>::AllocateNode(void) {
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}
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template<class UserState>
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void AStarSearch<UserState>::FreeNode(Node* node) {
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}
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@ -51,8 +51,13 @@ public:
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};
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};
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public:
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public:
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AStarSearch(void);
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AStarSearch(void) :
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~AStarSearch(void);
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_state(SEARCH_STATE_NOT_INITIALIZED),
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_currentSolutionNode(NULL),
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_allocateNodeCount(0),
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_cancelRequest(false) {}
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~AStarSearch(void) {}
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int GetState(void) { return _state; }
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int GetState(void) { return _state; }
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@ -60,19 +65,218 @@ public:
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void CancelSearch(void) { _cancelRequest = true; }
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void CancelSearch(void) { _cancelRequest = true; }
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// Set the start/goal state.
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// Set the start/goal state.
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void SetStartAndGoalStates(UserState& start, UserState& goal);
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void SetStartAndGoalStates(UserState& start, UserState& goal) {
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_cancelRequest= false;
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_start = AllocateNode();
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_goal = AllocateNode();
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assert((_start != NULL && _goal != NULL));
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_start->_userState = _start;
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_goal->_userState = _goal;
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_state = SEARCH_STATE_SEARCHING;
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// Initialize the AStar specific parts of the start node.
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// You only need to fill out the state information.
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_start->g = 0;
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_start->h = _start->_userState.GoalDistanceEstimate(_goal->_userState);
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_start->f = _start->g + _start->h;
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_start->parent = 0;
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// Push the start node onto the open list.
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_openList.push_back(_start); // Heap is now unsorted.
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// Sort back element into the heap.
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push_heap(_openList.begin(), _openList.end(), HeapCompare_f());
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// Initialize counter for the search steps.
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_steps = 0;
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}
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// Search one step.
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// Search one step.
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unsigned int SearchStep(void);
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unsigned int SearchStep(void) {
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// Break if the search has not been initialized.
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assert((_state > SEARCH_STATE_NOT_INITIALIZED) && ( _state < SEARCH_STATE_INVALID));
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// Ensure it is safe to do a seach step once the seach has succeeded.
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if((_state == SEARCH_STATE_SUCCEEDED) || (_state == SEARCH_STATE_FAILED)) { return false; }
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if(_openList.empty() || _cancelRequest) {
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// Then there is nothing left to search, so fail.
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FreeAllNodes();
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_state = SEARCH_STATE_FAILED;
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return _state;
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}
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_steps++;
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// Pop the best node. -- The one with the lowest f.
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Node* n = _openList.front(); // Get pointer to the node.
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pop_heap(_openList.begin(), _openList.end(), HeapCompare_f());
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_openList.pop_back();
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// Check for the goal, once we pop that, we are done.
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if(n->_userState.IsGoal(_goal->_userState)) {
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// Copy the parent pointer of n, as we will use the passed in goal node.
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_goal->parent = n->parent;
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// If the goal was passed in at the start..
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if(false == n->_userState.IsSameState(_start->_userState)) {
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FreeNode(n);
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// Set the child pointers in each node, apart from goal, as it has no child.
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Node* nodeChild = _goal;
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Node* nodeParent = _goal->parent;
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while(nodeChild != _start) {
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// Start is always the first node by definition.
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nodeParent->child = nodeChild;
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nodeChild = nodeParent;
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nodeParent = nodeParent->parent;
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}
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||||||
|
}
|
||||||
|
// Delete nodes that are not needed for the solution.
|
||||||
|
FreeUnusedNodes();
|
||||||
|
_state = SEARCH_STATE_SUCCEEDED;
|
||||||
|
|
||||||
|
return _state;
|
||||||
|
} else {
|
||||||
|
// Not goal.
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Generate the successors of this node.
|
||||||
|
* The user helps us to do this, and we keep
|
||||||
|
* the new nodes in _successors.
|
||||||
|
*/
|
||||||
|
_successors.clear(); // empty the vector of successor nodes to n.
|
||||||
|
|
||||||
|
// The user provides this functions and uses AddSuccessor to add each
|
||||||
|
// successor of node 'n' to _successors.
|
||||||
|
bool ret = n->_userState.GetSuccessors(this, n->parent ? &n->parent->_userState : NULL);
|
||||||
|
|
||||||
|
if(!ret) {
|
||||||
|
typename vector<Node*>::iterator successor;
|
||||||
|
|
||||||
|
// Free the nodes that may have previously been added.
|
||||||
|
for(successor = _successors.begin(); successor != _successors.end(); successor++) {
|
||||||
|
FreeNode((*successor));
|
||||||
|
}
|
||||||
|
// Empty vector of successor nodes nodes to n.
|
||||||
|
_successors.clear();
|
||||||
|
|
||||||
|
// Free up everything else we allocated along the way.
|
||||||
|
FreeAllNodes();
|
||||||
|
|
||||||
|
_state = SEARCH_STATE_OUT_OF_MEMORY;
|
||||||
|
return _state;
|
||||||
|
}
|
||||||
|
// Now handle each successor to the current node..
|
||||||
|
for(typename vector<Node*>::iterator successor = _successors.begin(); successor != _successors.end(); successor++) {
|
||||||
|
// The g value for this successor.
|
||||||
|
float newg = n->g + n->_userState.GetCost((*successor)->_userState);
|
||||||
|
|
||||||
|
/*
|
||||||
|
* We need to see whether the node is on the open or closed
|
||||||
|
* list. If it is, but the node that is already on them is better
|
||||||
|
* (lower g) then we can forget about this successor.
|
||||||
|
*
|
||||||
|
* First linear search of open list to find node.
|
||||||
|
*/
|
||||||
|
typename vector<Node*>::iterator openlist_result;
|
||||||
|
for(openlist_result = _openList.begin(); openlist_result != _openList.end(); openlist_result++) {
|
||||||
|
if((*openlist_result)->_userState.IsSameState((*successor)->_userState)) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if(openlist_result != _openList.end()) {
|
||||||
|
// We found this state open.
|
||||||
|
if((*openlist_result)->g <= newg) {
|
||||||
|
FreeNode((*successor));
|
||||||
|
// The one on the open list is cheaper than this one.
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
typename vector<Node*>::iterator closedlist_result;
|
||||||
|
for(closedlist_result = _closedList.begin(); closedlist_result != _closedList.end(); closedlist_result++) {
|
||||||
|
if((*closedlist_result)->_userState.IsSameState((*successor)->_userState)) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if(closedlist_result != _closedList.end()) {
|
||||||
|
// We found this state closed.
|
||||||
|
if((*closedlist_result)->g <= newg) {
|
||||||
|
// The one on the closed list is cheaper than this one.
|
||||||
|
FreeNode((*successor));
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// This node is the best node so fat with this particular state.
|
||||||
|
// So lets keep it, and set up its AStar specific data..
|
||||||
|
(*successor)->parent = n;
|
||||||
|
(*successor)->g = newg;
|
||||||
|
(*successor)->h = (*successor)->_userState.GoalDistanceEstimate(_goal->_userState);
|
||||||
|
(*successor)->f = (*successor)->g + (*successor)->h;
|
||||||
|
|
||||||
|
// Remove successor from closed if it was on it.
|
||||||
|
if(closedlist_result != _closedList.end()) {
|
||||||
|
// Remove it from the closed list.
|
||||||
|
FreeNode((*closedlist_result));
|
||||||
|
_closedList.erase(closedlist_result);
|
||||||
|
|
||||||
|
// Now remake the heap!!
|
||||||
|
make_heap(_openList.begin(), _openList.end(), HeapCompare_f());
|
||||||
|
}
|
||||||
|
|
||||||
|
// The heap is now unsorted.
|
||||||
|
_openList.push_back((*successor));
|
||||||
|
|
||||||
|
// Sort back elements into the heap.
|
||||||
|
push_heap(_openList.begin(), _openList.end(), HeapCompare_f());
|
||||||
|
}
|
||||||
|
// push n onto the closed list as it has now been expanded.
|
||||||
|
_closedList.push_back(n);
|
||||||
|
} // (Not goal, so expand)
|
||||||
|
return _state; // Succeeded bool should be false at this point.
|
||||||
|
}
|
||||||
|
|
||||||
// Call this to add a successor to a list of
|
// Call this to add a successor to a list of
|
||||||
// successors when expanding the seach frontier.
|
// successors when expanding the seach frontier.
|
||||||
bool AddSuccessor(UserState& state);
|
bool AddSuccessor(UserState& state) {
|
||||||
|
Node* node = Allocate();
|
||||||
|
|
||||||
|
if(node) {
|
||||||
|
node->_userState = state;
|
||||||
|
_successors.push_back(node);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
// Free the solution nodes.
|
// Free the solution nodes.
|
||||||
// This is done to clean up all used nodes in memory when you are
|
// This is done to clean up all used nodes in memory when you are
|
||||||
// done with the search.
|
// done with the search.
|
||||||
void FreeSolutionNodes(void);
|
void FreeSolutionNodes(void) {
|
||||||
|
Node* n = _start;
|
||||||
|
|
||||||
|
if(_start->child) {
|
||||||
|
while(n != _goal) {
|
||||||
|
Node* del = n;
|
||||||
|
n = n->child;
|
||||||
|
FreeNode(del);
|
||||||
|
|
||||||
|
del = NULL;
|
||||||
|
}
|
||||||
|
FreeNode(n); // Delete the goal.
|
||||||
|
} else {
|
||||||
|
// If the start node is the solution, we need to just
|
||||||
|
// delete the start goal nodes.
|
||||||
|
FreeNode(_start);
|
||||||
|
FreeNode(_goal);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
// -- Some methods for travelling through the solution. --
|
// -- Some methods for travelling through the solution. --
|
||||||
|
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user